Motors C API¶
Note
Additional example code for this module can be found in its Tutorial.
- Movement Functions
- Telemetry Functions
- motor_get_actual_velocity
- motor_get_current_draw
- motor_get_direction
- motor_get_efficiency
- motor_get_faults
- motor_get_flags
- motor_get_position
- motor_get_power
- motor_get_raw_position
- motor_get_temperature
- motor_get_torque
- motor_get_voltage
- motor_get_zero_position_flag
- motor_is_stopped
- motor_is_over_current
- motor_is_over_temp
- Configuration Functions
- motor_get_brake_mode
- motor_get_current_limit
- motor_get_encoder_units
- motor_get_gearing
- motor_get_voltage_limit
- motor_is_reversed
- motor_set_brake_mode
- motor_set_current_limit
- motor_set_encoder_units
- motor_set_gearing
- motor_set_reversed
- motor_set_voltage_limit
- motor_set_zero_position
- motor_tare_position
- Macros
- Enumerated Values
Movement Functions¶
motor_move¶
Sets the voltage for the motor from -127 to 127.
This is designed to map easily to the input from the controller’s analog stick for simple opcontrol use. The actual behavior of the motor is analogous to use of motor_move_voltage, or motorSet from the PROS 2 API.
Note
This function will not respect brake modes, and simply sets the voltage to the desired value.
This function uses the following values of errno
when an error state is reached:
ENXIO
- The given value is not within the range of V5 ports (1-21).ENODEV
- The port cannot be configured as a motor
Analogous to pros::Motor::move.
int32_t motor_move ( uint8_t port,
const int8_t voltage )
1 2 3 4 5 6 | void opcontrol() { while (true) { motor_move(1, controller_get_analog(E_CONTROLLER_MASTER, E_CONTROLLER_ANALOG_LEFT_Y)); delay(2); } } |
Parameters | |
---|---|
port | The V5 port number from 1-21 |
voltage | The new motor voltage from -127 to 127 |
Returns: 1
if the operation was successful or PROS_ERR
if the operation failed,
setting errno
.
motor_move_absolute¶
Sets the target absolute position for the motor to move to.
This movement is relative to the position of the motor when initialized or the position when it was most recently reset with motor_tare_position.
Note
This function simply sets the target for the motor, it does not block program execution until the movement finishes. The example code shows how to block until a movement is finished.
This function uses the following values of errno
when an error state is reached:
ENXIO
- The given value is not within the range of V5 ports (1-21).ENODEV
- The port cannot be configured as a motor
Analogous to pros::Motor::move_absolute.
int32_t motor_move_absolute ( uint8_t port,
double position,
int32_t velocity )
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 | void autonomous() { motor_move_absolute(1, 100, 100); // Moves 100 units forward while (!((motor_get_position(1) < 105) && (motor_get_position(1) > 95))) { // Continue running this loop as long as the motor is not within +-5 units of its goal delay(2); } motor_move_absolute(1, 100, 100); // This will not cause a movement while (!((motor_get_position(1) < 105) && (motor_get_position(1) > 95))) { delay(2); } motor_tare_position(1); motor_move_absolute(1, 100, 100); // Moves 100 units forward while (!((motor_get_position(1) < 105) && (motor_get_position(1) > 95))) { delay(2); } } |
Parameters | |
---|---|
port | The V5 port number from 1-21 |
position | The absolute position to move to in the motor’s encoder units |
velocity | The maximum allowable velocity for the movement in RPM |
Returns: 1
if the operation was successful or PROS_ERR
if the operation failed,
setting errno
.
motor_move_relative¶
Sets the relative target position for the motor to move to.
This movement is relative to the current position of the motor as given in motor_get_position. Providing 10.0 as the position parameter would result in the motor moving clockwise 10 units, no matter what the current position is.
Note
This function simply sets the target for the motor, it does not block program execution until the movement finishes. The example code shows how to block until a movement is finished.
This function uses the following values of errno
when an error state is reached:
ENXIO
- The given value is not within the range of V5 ports (1-21).ENODEV
- The port cannot be configured as a motor
Analogous to pros::Motor::move_relative.
int32_t motor_move_relative ( uint8_t port,
double position,
int32_t velocity )
1 2 3 4 5 6 7 8 9 10 11 12 | void autonomous() { motor_move_relative(1, 100, 100); // Moves 100 units forward while (!((motor_get_position(1) < 105) && (motor_get_position(1) > 95))) { // Continue running this loop as long as the motor is not within +-5 units of its goal delay(2); } motor_move_relative(1, 100, 100); // Also moves 100 units forward while (!((motor_get_position(1) < 205) && (motor_get_position(1) > 195))) { delay(2); } } |
Parameters | |
---|---|
port | The V5 port number from 1-21 |
position | The relative position to move to in the motor’s encoder units |
velocity | The maximum allowable velocity for the movement |
Returns: 1
if the operation was successful or PROS_ERR
if the operation failed,
setting errno
.
motor_move_velocity¶
Sets the velocity for the motor.
This velocity corresponds to different actual speeds depending on the gearset used for the motor. This results in a range of +-100 for E_MOTOR_GEARSET_36, +-200 for E_MOTOR_GEARSET_18, and +-600 for blue. The velocity is held with PID to ensure consistent speed, as opposed to setting the motor’s voltage.
This function uses the following values of errno
when an error state is reached:
ENXIO
- The given value is not within the range of V5 ports (1-21).ENODEV
- The port cannot be configured as a motor
Analogous to pros::Motor::move_velocity.
int32_t motor_move_velocity ( uint8_t port,
int16_t velocity )
1 2 3 4 5 | void autonomous() { motor_move_velocity(1, 100); delay(1000); // Move at 100 RPM for 1 second motor_move_velocity(1, 0); } |
Parameters | |
---|---|
port | The V5 port number from 1-21 |
velocity | The new motor velocity from +-100, +-200, or +-600 depending on the motor’s gearset |
Returns: 1
if the operation was successful or PROS_ERR
if the operation failed,
setting errno
.
motor_move_voltage¶
Sets the voltage for the motor from -12000 mV to 12000 mV.
Note
This function will not respect brake modes, and simply sets the voltage to the desired value.
This function uses the following values of errno
when an error state is reached:
ENXIO
- The given value is not within the range of V5 ports (1-21).ENODEV
- The port cannot be configured as a motor
Analogous to pros::Motor::move_voltage.
int32_t motor_move_voltage ( uint8_t port,
int16_t voltage )
1 2 3 4 5 | void autonomous() { motor_move_voltage(1, 12000); delay(1000); // Move at max voltage for 1 second motor_move_voltage(1, 0); } |
Parameters | |
---|---|
port | The V5 port number from 1-21 |
voltage | The new voltage for the motor from -12000 mV to 12000 mV |
Returns: 1
if the operation was successful or PROS_ERR
if the operation failed,
setting errno
.
motor_brake¶
Stops the motor using the currently configured brake mode.
This function sets motor velocity to zero, which will cause it to act according to the set brake mode. If brake mode is set to MOTOR_BRAKE_HOLD, this function may behave differently than calling motor_move_absolute(0) or motor_move_relative(0).
This function uses the following values of errno
when an error state is reached:
ENODEV
- The port cannot be configured as a motor
Analogous to pros::Motor::brake.
int32_t motor_brake ( uint8_t port )
1 2 3 4 5 | void autonomous() { motor_move_voltage(1, 12000); delay(1000); // Move at max voltage for 1 second motor_brake(1); // Brakes motor } |
Parameters | |
---|---|
port | The V5 port number from 1-21 |
Returns: 1
if the operation was successful or PROS_ERR
if the operation failed,
setting errno
.
motor_modify_profiled_velocity¶
Changes the output velocity for a profiled movement (motor_move_absolute or motor_move_relative). This will have no effect if the motor is not following a profiled movement.
This function uses the following values of errno
when an error state is reached:
ENXIO
- The given value is not within the range of V5 ports (1-21).ENODEV
- The port cannot be configured as a motor
Analogous to pros::Motor::modify_profiled_velocity.
int32_t motor_modify_profiled_velocity ( uint8_t port,
const int32_t velocity )
1 2 3 4 5 | void autonomous() { motor_move_absolute(1, 100, 100); delay(100); motor_modify_profiled_velocity(1, 0); // Stop the motor early } |
Parameters | |
---|---|
port | The V5 port number from 1-21 |
velocity | The new motor velocity from +-100, +-200, or +-600 depending on the motor’s gearset |
Returns: 1
if the operation was successful or PROS_ERR
if the operation failed,
setting errno
.
motor_get_target_position¶
Gets the target position set for the motor by the user.
This function uses the following values of errno
when an error state is reached:
ENXIO
- The given value is not within the range of V5 ports (1-21).ENODEV
- The port cannot be configured as a motor
Analogous to pros::Motor::get_target_position.
double motor_get_target_position ( uint8_t port )
1 2 3 4 5 | void autonomous() { motor_move_absolute(1, 100, 100); printf("Motor Target: %d\n", motor_get_target_position(1)); // Prints 100 } |
Parameters | |
---|---|
port | The V5 port number from 1-21 |
Returns: The target position in its encoder units or PROS_ERR_F
if the
operation failed, setting errno
.
motor_get_target_velocity¶
Gets the velocity commanded to the motor by the user.
This function uses the following values of errno
when an error state is reached:
ENXIO
- The given value is not within the range of V5 ports (1-21).ENODEV
- The port cannot be configured as a motor
Analogous to pros::Motor::get_target_velocity.
int32_t motor_get_target_velocity ( uint8_t port )
1 2 3 4 5 6 7 | void opcontrol() { while (true) { motor_move_velocity(1, controller_get_analog(E_CONTROLLER_MASTER, E_CONTROLLER_ANALOG_LEFT_Y)); printf("Motor Commanded Velocity: %d\n", motor_get_target_velocity(1)); delay(2); } } |
Parameters | |
---|---|
port | The V5 port number from 1-21 |
Returns: The commanded motor velocity from +-100, +-200, +-600, or PROS_ERR
if the
operation failed, setting errno
.
Telemetry Functions¶
motor_get_actual_velocity¶
Gets the actual velocity of the motor.
This function uses the following values of errno
when an error state is reached:
ENXIO
- The given value is not within the range of V5 ports (1-21).ENODEV
- The port cannot be configured as a motor
Analogous to pros::Motor::get_actual_velocity.
double motor_get_actual_velocity ( uint8_t port )
1 2 3 4 5 6 7 | void opcontrol() { while (true) { motor_move(1, controller_get_analog(E_CONTROLLER_MASTER, E_CONTROLLER_ANALOG_LEFT_Y)); printf("Actual velocity: %lf\n", motor_get_actual_velocity(1)); delay(2); } } |
Parameters | |
---|---|
port | The V5 port number from 1-21 |
Returns: The motor’s actual velocity in RPM
or PROS_ERR_F
if the operation failed, setting errno
.
motor_get_current_draw¶
Gets the current drawn by the motor in mA.
This function uses the following values of errno
when an error state is reached:
ENXIO
- The given value is not within the range of V5 ports (1-21).ENODEV
- The port cannot be configured as a motor
Analogous to pros::Motor::get_current_draw.
int32_t motor_get_current_draw ( uint8_t port )
1 2 3 4 5 6 7 | void opcontrol() { while (true) { motor_move(1, controller_get_analog(E_CONTROLLER_MASTER, E_CONTROLLER_ANALOG_LEFT_Y)); printf("Motor Current Draw: %d\n", motor_get_current_draw(1)); delay(2); } } |
Parameters | |
---|---|
port | The V5 port number from 1-21 |
Returns: The motor’s current in mA or PROS_ERR
if the operation failed,
setting errno
.
motor_get_direction¶
Gets the direction of movement for the motor.
This function uses the following values of errno
when an error state is reached:
ENXIO
- The given value is not within the range of V5 ports (1-21).ENODEV
- The port cannot be configured as a motor
Analogous to pros::Motor::get_direction.
int32_t motor_get_direction ( uint8_t port )
1 2 3 4 5 6 7 | void opcontrol() { while (true) { motor_move(1, controller_get_analog(E_CONTROLLER_MASTER, E_CONTROLLER_ANALOG_LEFT_Y)); printf("Motor Direction: %d\n", motor_get_direction(1)); delay(2); } } |
Parameters | |
---|---|
port | The V5 port number from 1-21 |
Returns: 1 for moving in the positive direction, -1 for moving in the
negative direction, and PROS_ERR
if the operation failed,
setting errno
.
motor_get_efficiency¶
Gets the efficiency of the motor in percent.
An efficiency of 100% means that the motor is moving electrically while drawing no electrical power, and an efficiency of 0% means that the motor is drawing power but not moving.
This function uses the following values of errno
when an error state is reached:
ENXIO
- The given value is not within the range of V5 ports (1-21).ENODEV
- The port cannot be configured as a motor
Analogous to pros::Motor::get_efficiency.
int32_t motor_get_efficiency ( uint8_t port )
1 2 3 4 5 6 7 | void opcontrol() { while (true) { motor_move(1, controller_get_analog(E_CONTROLLER_MASTER, E_CONTROLLER_ANALOG_LEFT_Y)); printf("Motor Efficiency: %d\n", motor_get_efficiency(1)); delay(2); } } |
Parameters | |
---|---|
port | The V5 port number from 1-21 |
Returns: The motor’s efficiency in percent or PROS_ERR_F
if the operation
failed, setting errno
.
motor_get_faults¶
Gets the faults experienced by the motor.
Compare this bitfield to the bitmasks in motor_fault_e_t.
This function uses the following values of errno
when an error state is reached:
ENXIO
- The given value is not within the range of V5 ports (1-21).ENODEV
- The port cannot be configured as a motor
Analogous to pros::Motor::get_faults.
uint32_t motor_get_faults ( uint8_t port )
1 2 3 4 5 6 7 | void opcontrol() { while (true) { motor_move(1, controller_get_analog(E_CONTROLLER_MASTER, E_CONTROLLER_ANALOG_LEFT_Y)); printf("Motor Faults: %d\n", motor_get_faults(1)); delay(2); } } |
Parameters | |
---|---|
port | The V5 port number from 1-21 |
Returns: Currently unknown bitfield.
motor_get_flags¶
Gets the flags set by the motor’s operation.
Compare this bitfield to the bitmasks in motor_flag_e_t.
This function uses the following values of errno
when an error state is reached:
ENXIO
- The given value is not within the range of V5 ports (1-21).ENODEV
- The port cannot be configured as a motor
Analogous to pros::Motor::get_flags.
uint32_t motor_get_flags ( uint8_t port )
1 2 3 4 5 6 7 | void opcontrol() { while (true) { motor_move(1, controller_get_analog(E_CONTROLLER_MASTER, E_CONTROLLER_ANALOG_LEFT_Y)); printf("Motor Flags: %d\n", motor_get_flags(1)); delay(2); } } |
Parameters | |
---|---|
port | The V5 port number from 1-21 |
Returns: A currently unknown bitfield
motor_get_position¶
Gets the absolute position of the motor in its encoder units.
This function uses the following values of errno
when an error state is reached:
ENXIO
- The given value is not within the range of V5 ports (1-21).ENODEV
- The port cannot be configured as a motor
Analogous to pros::Motor::get_position.
double motor_get_position ( uint8_t port )
1 2 3 4 5 6 7 | void opcontrol() { while (true) { motor_move(1, controller_get_analog(E_CONTROLLER_MASTER, E_CONTROLLER_ANALOG_LEFT_Y)); printf("Motor Position: %lf\n", motor_get_position(1)); delay(2); } } |
Parameters | |
---|---|
port | The V5 port number from 1-21 |
Returns: The motor’s absolute position in its encoder units or PROS_ERR_F
if the operation failed, setting errno
.
motor_get_power¶
Gets the power drawn by the motor in Watts.
This function uses the following values of errno
when an error state is reached:
ENXIO
- The given value is not within the range of V5 ports (1-21).ENODEV
- The port cannot be configured as a motor
Analogous to pros::Motor::get_power.
double motor_get_power ( uint8_t port )
1 2 3 4 5 6 7 8 | void opcontrol() { uint32_t now = millis(); while (true) { motor_move(1, controller_get_analog(E_CONTROLLER_MASTER, E_CONTROLLER_ANALOG_LEFT_Y)); printf("Motor Power: %lf\n", motor_get_power(1)); delay(2); } } |
Parameters | |
---|---|
port | The V5 port number from 1-21 |
Returns: The motor’s power draw in Watts or PROS_ERR_F
if the operation
failed, setting errno
.
motor_get_raw_position¶
Gets the raw encoder count of the motor at a given timestamp.
This function uses the following values of errno
when an error state is reached:
ENXIO
- The given value is not within the range of V5 ports (1-21).ENODEV
- The port cannot be configured as a motor
Analogous to pros::Motor::get_raw_position.
int32_t motor_get_raw_position ( uint8_t port,
uint32_t* timestamp )
1 2 3 4 5 6 7 8 | void opcontrol() { uint32_t now = millis(); while (true) { motor_move(1, controller_get_analog(E_CONTROLLER_MASTER, E_CONTROLLER_ANALOG_LEFT_Y)); printf("Motor Encoder Count: %d\n", motor_get_raw_position(1, &now)); delay(2); } } |
Parameters | |
---|---|
port | The V5 port number from 1-21 |
timestamp | A pointer to a time in milliseconds for which the encoder count will be returned |
Returns: The raw encoder count at the given timestamp or PROS_ERR
if the
operation failed, setting errno
.
motor_get_temperature¶
Gets the temperature of the motor in degrees Celsius. The resolution of this eading is 5 degrees Celsius. The motor will start to reduce its power when the temperature reading is greater than or equal to 55 C.
This function uses the following values of errno
when an error state is reached:
ENXIO
- The given value is not within the range of V5 ports (1-21).ENODEV
- The port cannot be configured as a motor
Analogous to pros::Motor::get_temperature.
double motor_get_temperature ( uint8_t port )
1 2 3 4 5 6 7 | void opcontrol() { while (true) { motor_move(1, controller_get_analog(E_CONTROLLER_MASTER, E_CONTROLLER_ANALOG_LEFT_Y)); printf("Motor Temperature: %lf\n", motor_get_temperature(1)); delay(2); } } |
Parameters | |
---|---|
port | The V5 port number from 1-21 |
Returns: The motor’s temperature in degrees Celsius or PROS_ERR_F
if the
operation failed, setting errno
.
motor_get_torque¶
Gets the torque generated by the motor in Nm.
This function uses the following values of errno
when an error state is reached:
ENXIO
- The given value is not within the range of V5 ports (1-21).ENODEV
- The port cannot be configured as a motor
Analogous to pros::Motor::get_torque.
double motor_get_torque ( uint8_t port )
1 2 3 4 5 6 7 | void opcontrol() { while (true) { motor_move(1, controller_get_analog(E_CONTROLLER_MASTER, E_CONTROLLER_ANALOG_LEFT_Y)); printf("Motor Torque: %lf\n", motor_get_torque(1)); delay(2); } } |
Parameters | |
---|---|
port | The V5 port number from 1-21 |
Returns: The motor’s torque in NM or PROS_ERR_F
if the operation failed,
setting errno
.
motor_get_voltage¶
Gets the voltage delivered to the motor in mV.
This function uses the following values of errno
when an error state is reached:
ENXIO
- The given value is not within the range of V5 ports (1-21).ENODEV
- The port cannot be configured as a motor
Analogous to pros::Motor::get_voltage.
int32_t motor_get_voltage ( uint8_t port )
1 2 3 4 5 6 7 | void opcontrol() { while (true) { motor_move(1, controller_get_analog(E_CONTROLLER_MASTER, E_CONTROLLER_ANALOG_LEFT_Y)); printf("Motor Voltage: %d\n", motor_get_voltage(1)); delay(2); } } |
Parameters | |
---|---|
port | The V5 port number from 1-21 |
Returns: The motor’s voltage in mV or PROS_ERR_F
if the operation failed,
setting errno
.
motor_get_zero_position_flag¶
Gets the zero position flag for the motor.
This function uses the following values of errno
when an error state is reached:
ENXIO
- The given value is not within the range of V5 ports (1-21).ENODEV
- The port cannot be configured as a motor
Analogous to pros::Motor::get_zero_position_flag.
int32_t motor_get_zero_position_flag ( uint8_t port )
1 2 3 4 5 6 7 | void opcontrol() { while (true) { motor_move(1, controller_get_analog(E_CONTROLLER_MASTER, E_CONTROLLER_ANALOG_LEFT_Y)); printf("Is the motor at its zero position? %d\n", motor_get_zero_position_flag(1)); delay(2); } } |
Parameters | |
---|---|
port | The V5 port number from 1-21 |
Returns: 1
if the motor is at zero absolute position and 0
if the motor has
moved from its absolute zero, or PROS_ERR
if the operation failed
setting errno
.
motor_is_stopped¶
Gets the zero velocity flag for the motor.
This function uses the following values of errno
when an error state is reached:
ENXIO
- The given value is not within the range of V5 ports (1-21).ENODEV
- The port cannot be configured as a motor
Analogous to pros::Motor::is_stopped.
int32_t motor_is_stopped ( uint8_t port )
1 2 3 4 5 6 7 | void opcontrol() { while (true) { motor_move(1, controller_get_analog(E_CONTROLLER_MASTER, E_CONTROLLER_ANALOG_LEFT_Y)); printf("Is the motor stopped? %d\n", motor_is_stopped(1)); delay(2); } } |
Parameters | |
---|---|
port | The V5 port number from 1-21 |
Returns: 1
if the motor is not moving and 0
if the motor is moving,
or PROS_ERR
if the operation failed, setting errno
.
motor_is_over_current¶
Detects if the motor is drawing over its current limit.
This function uses the following values of errno
when an error state is reached:
ENXIO
- The given value is not within the range of V5 ports (1-21).ENODEV
- The port cannot be configured as a motor
Analogous to pros::Motor::is_over_current.
int32_t motor_is_over_current ( uint8_t port )
1 2 3 4 5 6 7 | void opcontrol() { while (true) { motor_move(1, controller_get_analog(E_CONTROLLER_MASTER, E_CONTROLLER_ANALOG_LEFT_Y)); printf("Motor Current Limit Hit?: %d\n", motor_is_over_current(1)); delay(2); } } |
Parameters | |
---|---|
port | The V5 port number from 1-21 |
Returns: 1 if the motor’s current limit is being exceeded and 0 if the current
limit is not exceeded, or PROS_ERR
if the operation failed, setting
errno
.
motor_is_over_temp¶
Gets the temperature limit flag for the motor.
This function uses the following values of errno
when an error state is reached:
ENXIO
- The given value is not within the range of V5 ports (1-21).ENODEV
- The port cannot be configured as a motor
Analogous to pros::Motor::is_over_temp.
int32_t motor_is_over_temp ( uint8_t port )
1 2 3 4 5 6 7 | void opcontrol() { while (true) { motor_move(1, controller_get_analog(E_CONTROLLER_MASTER, E_CONTROLLER_ANALOG_LEFT_Y)); printf("Motor Temp Limit: %d\n", motor_is_over_temp(1)); delay(2); } } |
Parameters | |
---|---|
port | The V5 port number from 1-21 |
Returns: 1 if the temperature limit is exceeded and 0 if the the
temperature is below the limit, or PROS_ERR
if the operation failed,
setting errno
.
Configuration Functions¶
motor_get_brake_mode¶
Gets the brake mode of the motor.
This function uses the following values of errno
when an error state is reached:
ENXIO
- The given value is not within the range of V5 ports (1-21).ENODEV
- The port cannot be configured as a motor
Analogous to pros::Motor::get_brake_mode.
motor_brake_mode_e_t motor_get_brake_mode ( uint8_t port )
void initialize() {
motor_set_brake_mode(1, E_MOTOR_BRAKE_HOLD);
printf("Brake Mode: %d\n", motor_get_brake_mode(1));
}
Parameters | |
---|---|
port | The V5 port number from 1-21 |
Returns: One of motor_brake_mode_e_t, according to what was set for the motor,
or E_MOTOR_BRAKE_INVALID
if the operation failed, setting errno
.
motor_get_current_limit¶
Gets the current limit for the motor in mA. The default limit is 2500 mA.
This function uses the following values of errno
when an error state is reached:
ENXIO
- The given value is not within the range of V5 ports (1-21).ENODEV
- The port cannot be configured as a motor
Analogous to pros::Motor::get_current_limit.
int32_t motor_get_current_limit ( uint8_t port )
void initialize() {
printf("Motor Current Limit: %d\n", motor_get_current_limit(1));
// Prints "Motor Current Limit: 2500"
}
Parameters | |
---|---|
port | The V5 port number from 1-21 |
Returns: The motor’s current limit in mA or PROS_ERR
if the operation failed,
setting errno
.
motor_get_encoder_units¶
Gets the encoder units set for the motor.
This function uses the following values of errno
when an error state is reached:
ENXIO
- The given value is not within the range of V5 ports (1-21).ENODEV
- The port cannot be configured as a motor
Analogous to pros::Motor::get_encoder_units.
motor_encoder_units_e_t motor_get_encoder_units ( uint8_t port )
void initialize() {
printf("Motor Encoder Units: %d\n", motor_get_encoder_units(1));
// Prints E_MOTOR_ENCODER_DEGREES by default
}
Parameters | |
---|---|
port | The V5 port number from 1-21 |
Returns: One of motor_encoder_units_e_t according to what is set for the motor
or E_MOTOR_ENCODER_INVALID
if the operation failed.
motor_get_gearing¶
Gets the gearset <motors.html#motor-gearset-e-t>`_ that was set for the motor.
This function uses the following values of errno
when an error state is reached:
ENXIO
- The given value is not within the range of V5 ports (1-21).ENODEV
- The port cannot be configured as a motor
Analogous to pros::Motor::get_gearing.
motor_gearset_e_t motor_get_gearing ( uint8_t port )
void initialize() {
printf("Motor Gearing Number: %d\n", motor_get_gearing(1));
// Prints E_MOTOR_GEARSET_36 by default
}
Parameters | |
---|---|
port | The V5 port number from 1-21 |
Returns: One of motor_gearset_e_t according to what is set for the motor,
or E_GEARSET_INVALID
if the operation failed.
motor_get_voltage_limit¶
Gets the voltage limit set by the user.
This function uses the following values of errno
when an error state is reached:
ENXIO
- The given value is not within the range of V5 ports (1-21).ENODEV
- The port cannot be configured as a motor
Analogous to pros::Motor::get_voltage_limit.
int32_t motor_get_voltage_limit ( uint8_t port )
void initialize() {
printf("Motor Voltage Limit: %d\n", motor_get_voltage_limit(1));
// Prints 0 by default, indicating no limit
}
Parameters | |
---|---|
port | The V5 port number from 1-21 |
Returns: The motor’s voltage limit in V or PROS_ERR
if the operation failed,
setting errno
.
motor_is_reversed¶
Gets the operation direction of the motor as set by the user.
This function uses the following values of errno
when an error state is reached:
ENXIO
- The given value is not within the range of V5 ports (1-21).ENODEV
- The port cannot be configured as a motor
Analogous to pros::Motor::is_reversed.
int32_t motor_is_reversed ( uint8_t port )
void initialize() {
printf("Is the motor reversed? %d\n", motor_is_reversed(1));
// Prints "Is the motor reversed? 0"
}
Parameters | |
---|---|
port | The V5 port number from 1-21 |
Returns: 1 if the motor has been reversed and 0 if the motor was not reversed,
or PROS_ERR
if the operation failed, setting errno
.
motor_set_brake_mode¶
Sets one of motor_brake_mode_e_t to the motor.
This function uses the following values of errno
when an error state is reached:
ENXIO
- The given value is not within the range of V5 ports (1-21).ENODEV
- The port cannot be configured as a motor
Analogous to pros::Motor::set_brake_mode.
int32_t motor_set_brake_mode ( uint8_t port,
motor_brake_mode_e_t mode )
void initialize() {
motor_set_brake_mode(1, E_MOTOR_BRAKE_HOLD);
printf("Brake Mode: %d\n", motor_get_brake_mode(1));
}
Parameters | |
---|---|
port | The V5 port number from 1-21 |
mode | The motor_brake_mode_e_t to set for the motor |
Returns: 1
if the operation was successful or PROS_ERR
if the operation failed,
setting errno
.
motor_set_current_limit¶
Sets the current limit for the motor in mA.
The default limit is 2500 mA.
This function uses the following values of errno
when an error state is reached:
ENXIO
- The given value is not within the range of V5 ports (1-21).ENODEV
- The port cannot be configured as a motor
Analogous to pros::Motor::set_current_limit.
int32_t motor_set_current_limit ( uint8_t port,
int32_t limit )
1 2 3 4 5 6 7 8 | void opcontrol() { motor_set_current_limit(1, 1000); while (true) { motor_move(1, controller_get_analog(E_CONTROLLER_MASTER, E_CONTROLLER_ANALOG_LEFT_Y)); // The motor will reduce its output at 1000 mA instead of the default 2500 mA delay(2); } } |
Parameters | |
---|---|
port | The V5 port number from 1-21 |
limit | The new current limit in mA |
Returns: 1
if the operation was successful or PROS_ERR
if the operation failed,
setting errno
.
motor_set_encoder_units¶
Sets one of motor_encoder_units_e_t for the motor encoder.
This function uses the following values of errno
when an error state is reached:
ENXIO
- The given value is not within the range of V5 ports (1-21).ENODEV
- The port cannot be configured as a motor
Analogous to pros::Motor::set_encoder_units.
int32_t motor_set_encoder_units ( uint8_t port,
motor_encoder_units_e_t units )
void initialize() {
motor_set_encoder_units(1, E_MOTOR_ENCODER_DEGREES);
printf("Encoder Units: %d\n", motor_get_encoder_units(1));
}
Parameters | |
---|---|
port | The V5 port number from 1-21 |
units | The new motor encoder units |
Returns: 1
if the operation was successful or PROS_ERR
if the operation failed,
setting errno
.
motor_set_gearing¶
Sets one of motor_gearset_e_t for the motor.
This function uses the following values of errno
when an error state is reached:
ENXIO
- The given value is not within the range of V5 ports (1-21).ENODEV
- The port cannot be configured as a motor
Analogous to pros::Motor::set_gearing.
int32_t motor_set_gearing ( uint8_t port,
motor_gearset_e_t gearset )
void initialize() {
motor_set_gearing(1, E_MOTOR_GEARSET_06);
printf("Brake Mode: %d\n", motor_get_gearing(1));
}
Parameters | |
---|---|
port | The V5 port number from 1-21 |
gearset | The new motor gearset |
Returns: 1
if the operation was successful or PROS_ERR
if the operation failed,
setting errno
.
motor_set_reversed¶
Sets the reverse flag for the motor.
This will invert its movements and the values returned for its position.
This function uses the following values of errno
when an error state is reached:
ENXIO
- The given value is not within the range of V5 ports (1-21).ENODEV
- The port cannot be configured as a motor
Analogous to pros::Motor::set_reversed.
int32_t motor_set_reversed ( uint8_t port,
bool reverse )
void autonomous() {
motor_set_reversed(1, true);
printf("Is this motor reversed? %d\n", motor_is_reversed(1));
}
Parameters | |
---|---|
port | The V5 port number from 1-21 |
reverse | 1 reverses the motor, 0 is default |
Returns: 1
if the operation was successful or PROS_ERR
if the operation failed,
setting errno
.
motor_set_voltage_limit¶
Sets the voltage limit for the motor in mV.
This function uses the following values of errno
when an error state is reached:
ENXIO
- The given value is not within the range of V5 ports (1-21).ENODEV
- The port cannot be configured as a motor
Analogous to pros::Motor::set_voltage_limit.
int32_t motor_set_voltage_limit ( uint8_t port,
int32_t limit )
1 2 3 4 5 6 7 8 | void autonomous() { motor_set_voltage_limit(1, 10000); while (true) { motor_move(1, controller_get_analog(E_CONTROLLER_MASTER, E_CONTROLLER_ANALOG_LEFT_Y)); // The motor will not output more than 10 V delay(2); } } |
Parameters | |
---|---|
port | The V5 port number from 1-21 |
limit | The new voltage limit in mV |
Returns: 1
if the operation was successful or PROS_ERR
if the operation failed,
setting errno
.
motor_set_zero_position¶
Sets the zero position for the motor in its encoder units.
This will be the future reference point for the motor’s “absolute” position.
This function uses the following values of errno
when an error state is reached:
ENXIO
- The given value is not within the range of V5 ports (1-21).ENODEV
- The port cannot be configured as a motor
Analogous to pros::Motor::set_zero_position.
int32_t motor_set_zero_position ( uint8_t port,
double position )
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 | void autonomous() { motor_move_absolute(1, 100, 100); // Moves 100 units forward while (!((motor_get_position(1) - 100 < 105) && (motor_get_position(1) - 100 > 95))) { // Continue running this loop as long as the motor is not within +-5 units of its goal delay(2); } motor_move_absolute(1, 100, 100); // This does not cause a movement while (!((motor_get_position(1) - 100 < 105) && (motor_get_position(1) - 100 > 95))) { delay(2); } motor_set_zero_position(1, 80); motor_move_absolute(1, 100, 100); // Moves 80 units forward while (!((motor_get_position(1) - 100 < 105) && (motor_get_position(1) - 100 > 95))) { delay(2); } } |
Parameters | |
---|---|
port | The V5 port number from 1-21 |
position | The new reference position in its encoder units |
Returns: 1
if the operation was successful or PROS_ERR
if the operation failed,
setting errno
.
motor_tare_position¶
Sets the “absolute” zero position of the motor to its current position.
This function uses the following values of errno
when an error state is reached:
ENXIO
- The given value is not within the range of V5 ports (1-21).ENODEV
- The port cannot be configured as a motor
Analogous to pros::Motor::tare_position.
int32_t motor_tare_position ( uint8_t port )
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 | void autonomous() { motor_move_absolute(1, 100, 100); // Moves 100 units forward while (!((motor_get_position(1) - 100 < 105) && (motor_get_position(1) - 100 > 95))) { // Continue running this loop as long as the motor is not within +-5 units of its goal delay(2); } motor_move_absolute(1, 100, 100); // This does not cause a movement while (!((motor_get_position(1) - 100 < 105) && (motor_get_position(1) - 100 > 95))) { delay(2); } motor_tare_position(1); motor_move_absolute(1, 100, 100); // Moves 100 units forward while (!((motor_get_position(1) - 100 < 105) && (motor_get_position(1) - 100 > 95))) { delay(2); } } |
Parameters | |
---|---|
port | The V5 port number from 1-21 |
Returns: 1
if the operation was successful or PROS_ERR
if the operation failed,
setting errno
.
Enumerated Values¶
motor_brake_mode_e_t¶
Indicates the current ‘brake mode’ of the motor.
1 2 3 4 5 6 | typedef enum motor_brake_mode_e { E_MOTOR_BRAKE_COAST = 0, // Motor coasts when stopped, traditional behavior E_MOTOR_BRAKE_BRAKE = 1, // Motor brakes when stopped E_MOTOR_BRAKE_HOLD = 2, // Motor actively holds position when stopped E_MOTOR_BRAKE_INVALID = INT32_MAX } motor_brake_mode_e_t; |
Value | |
---|---|
E_MOTOR_BRAKE_COAST | Motor coasts when stopped, traditional behavior |
E_MOTOR_BRAKE_BRAKE | Motor brakes when stopped |
E_MOTOR_BRAKE_HOLD | Motor actively holds position when stopped |
E_MOTOR_BRAKE_INVALID | Invalid brake mode |
motor_encoder_units_e_t¶
Indicates the units used by the motor’s encoder.
1 2 3 4 5 6 7 8 9 | typedef enum motor_encoder_units_e { E_MOTOR_ENCODER_DEGREES = 0, // Position is recorded as angle in degrees // as a floating point number E_MOTOR_ENCODER_ROTATIONS = 1, // Position is recorded as angle in rotations // as a floating point number E_MOTOR_ENCODER_COUNTS = 2, // Position is recorded as raw encoder ticks // as a whole number E_MOTOR_ENCODER_INVALID = INT32_MAX } motor_encoder_units_e_t; |
Value | |
---|---|
E_MOTOR_ENCODER_DEGREES | Position is recorded as angle in degrees as a floating point number |
E_MOTOR_ENCODER_ROTATIONS | Position is recorded as angle in rotations as a floating point number |
E_MOTOR_ENCODER_COUNTS | Position is recorded as raw encoder ticks as a whole number |
E_MOTOR_BRAKE_INVALID | Invalid motor encoder units |
motor_fault_e_t¶
1 2 3 4 5 6 7 | typedef enum motor_fault_e { E_MOTOR_FAULT_NO_FAULTS = 0x00, E_MOTOR_FAULT_MOTOR_OVER_TEMP = 0x01, // Analogous to motor_is_over_temp() E_MOTOR_FAULT_DRIVER_FAULT = 0x02, // Indicates a motor h-bridge fault E_MOTOR_FAULT_OVER_CURRENT = 0x04, // Analogous to motor_is_over_current() E_MOTOR_FAULT_DRV_OVER_CURRENT = 0x08 // Indicates an h-bridge over current } motor_fault_e_t; |
Value | |
---|---|
E_MOTOR_FAULT_NO_FAULTS | No faults |
E_MOTOR_BRAKE_BRAKE | Motor brakes when stopped |
E_MOTOR_BRAKE_HOLD | Motor actively holds position when stopped |
E_MOTOR_BRAKE_INVALID | Invalid brake mode |
motor_flag_e_t¶
1 2 3 4 5 6 | typedef enum motor_flag_e { E_MOTOR_FLAGS_NONE = 0x00, E_MOTOR_FLAGS_BUSY = 0x01, // Cannot currently communicate to the motor E_MOTOR_FLAGS_ZERO_VELOCITY = 0x02, // Analogous to motor_is_stopped() E_MOTOR_FLAGS_ZERO_POSITION = 0x04 // Analogous to motor_get_zero_position_flag() } motor_flag_e_t; |
Value | |
---|---|
E_MOTOR_FLAGS_NONE | There are no flags raised |
E_MOTOR_FLAGS_BUSY | Cannot currently communicate to the motor |
E_MOTOR_FLAGS_ZERO_VELOCITY | Analogous to motor_is_stopped() |
E_MOTOR_FLAGS_ZERO_POSITION | Analogous to motor_get_zero_position_flag() |
motor_gearset_e_t¶
Indicates the internal gearing used by the motor.
1 2 3 4 5 6 7 8 9 10 11 12 | typedef enum motor_gearset_e { E_MOTOR_GEARSET_36 = 0, // 36:1 E_MOTOR_GEAR_RED = E_MOTOR_GEARSET_36, // Red gear set E_MOTOR_GEAR_100 = E_MOTOR_GEARSET_36, // 100 RPM E_MOTOR_GEARSET_18 = 1, // 18:1 E_MOTOR_GEAR_GREEN = E_MOTOR_GEARSET_18, // Green gear set E_MOTOR_GEAR_200 = E_MOTOR_GEARSET_18, // 200 RPM E_MOTOR_GEARSET_06 = 2, // 6:1 E_MOTOR_GEAR_BLUE = E_MOTOR_GEARSET_06, // Blue gear set E_MOTOR_GEAR_600 = E_MOTOR_GEARSET_06, // 600 RPM E_MOTOR_GEARSET_INVALID = INT32_MAX } motor_gearset_e_t; |
Value | |
---|---|
E_MOTOR_GEARSET_36 | 36:1 |
E_MOTOR_GEAR_RED | Red gear set |
E_MOTOR_GEAR_100 | 100 RPM |
E_MOTOR_GEARSET_18 | 18:1 |
E_MOTOR_GEAR_GREEN | Green gear set |
E_MOTOR_GEAR_200 | 200 RPM |
E_MOTOR_GEARSET_06 | 6:1 |
E_MOTOR_GEAR_BLUE | Blue Gear Set |
E_MOTOR_GEAR_600 | 200 RPM |
E_MOTOR_GEARSET_INVALID | Error return code |